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added some docs

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This commit is contained in:
Anthony J. Thibault 2017-06-01 13:38:18 -07:00
parent b9bf6f4c05
commit f99b579c14
2 changed files with 11 additions and 7 deletions
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11
libraries/animation/src/AnimInverseKinematics.cpp
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@ -1445,10 +1445,11 @@ void AnimInverseKinematics::initRelativePosesFromSolutionSource(SolutionSource s
} }
} }
// pre-compute information about each joint influeced by this spline IK target.
void AnimInverseKinematics::computeSplineJointInfosForIKTarget(const AnimContext& context, const IKTarget& target) { void AnimInverseKinematics::computeSplineJointInfosForIKTarget(const AnimContext& context, const IKTarget& target) {
std::vector<SplineJointInfo> splineJointInfoVec; std::vector<SplineJointInfo> splineJointInfoVec;
// build default spline // build spline between the default poses.
AnimPose tipPose = _skeleton->getAbsoluteDefaultPose(target.getIndex()); AnimPose tipPose = _skeleton->getAbsoluteDefaultPose(target.getIndex());
AnimPose basePose = _skeleton->getAbsoluteDefaultPose(_hipsIndex); AnimPose basePose = _skeleton->getAbsoluteDefaultPose(_hipsIndex);
@ -1461,9 +1462,11 @@ void AnimInverseKinematics::computeSplineJointInfosForIKTarget(const AnimContext
} else { } else {
spline = computeSplineFromTipAndBase(tipPose, basePose); spline = computeSplineFromTipAndBase(tipPose, basePose);
} }
// measure the total arc length along the spline
float totalArcLength = spline.arcLength(1.0f); float totalArcLength = spline.arcLength(1.0f);
// AJT: FIXME: TODO: this won't work for horizontal splines... // FIXME: TODO: this won't work for horizontal splines...
float baseToTipHeight = tipPose.trans().y - basePose.trans().y; float baseToTipHeight = tipPose.trans().y - basePose.trans().y;
int index = target.getIndex(); int index = target.getIndex();
@ -1471,10 +1474,10 @@ void AnimInverseKinematics::computeSplineJointInfosForIKTarget(const AnimContext
while (index != endIndex) { while (index != endIndex) {
AnimPose defaultPose = _skeleton->getAbsoluteDefaultPose(index); AnimPose defaultPose = _skeleton->getAbsoluteDefaultPose(index);
// AJT: FIXME: TODO: this wont work for horizontal splines... // FIXME: TODO: this wont work for horizontal splines...
float ratio = (defaultPose.trans().y - basePose.trans().y) / baseToTipHeight; float ratio = (defaultPose.trans().y - basePose.trans().y) / baseToTipHeight;
// compute offset from default spline pose to default pose. // compute offset from spline to the default pose.
float t = spline.arcLengthInverse(ratio * totalArcLength); float t = spline.arcLengthInverse(ratio * totalArcLength);
AnimPose pose(glm::vec3(1.0f), glm::normalize(glm::lerp(basePose.rot(), tipPose.rot(), t)), spline(t)); AnimPose pose(glm::vec3(1.0f), glm::normalize(glm::lerp(basePose.rot(), tipPose.rot(), t)), spline(t));
AnimPose offsetPose = pose.inverse() * defaultPose; AnimPose offsetPose = pose.inverse() * defaultPose;

7
libraries/animation/src/AnimInverseKinematics.h
View file

@ -117,10 +117,11 @@ protected:
AnimPoseVec _relativePoses; // current relative poses AnimPoseVec _relativePoses; // current relative poses
AnimPoseVec _limitCenterPoses; // relative AnimPoseVec _limitCenterPoses; // relative
// used to pre-compute information about each joint influeced by a spline IK target.
struct SplineJointInfo { struct SplineJointInfo {
int jointIndex; int jointIndex; // joint in the skeleton that this information pertains to.
float ratio; float ratio; // percentage (0..1) along the spline for this joint.
AnimPose offsetPose; AnimPose offsetPose; // local offset from the spline to the joint.
}; };
std::map<int, std::vector<SplineJointInfo>> _splineJointInfoMap; std::map<int, std::vector<SplineJointInfo>> _splineJointInfoMap;